From 2cca35c8fe6507ea7c3c7cbc70929fc0407e271b Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 12 Mar 2020 06:10:44 +0100
Subject: [PATCH] AxisAngle: call q.imag().norm() for conversion

This is important depending on the platform because norm()
calls matrix::squrt() which dispatches correctly to the implementation
for the used type. Otherwise float squrt()s can get calculated as
double.
---
 matrix/AxisAngle.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matrix/AxisAngle.hpp b/matrix/AxisAngle.hpp
index 98c89cd620..d72de6269a 100644
--- a/matrix/AxisAngle.hpp
+++ b/matrix/AxisAngle.hpp
@@ -69,7 +69,7 @@ public:
     AxisAngle(const Quaternion<Type> &q)
     {
         AxisAngle &v = *this;
-        Type mag = Type(sqrt(q(1) * q(1) + q(2) * q(2) + q(3) * q(3)));
+        Type mag = q.imag().norm();
         if (fabs(mag) >= Type(1e-10)) {
             v = q.imag() * Type(Type(2) * atan2(mag, q(0)) / mag);
         } else {